#include <ros/ros.h>
#include <im_joint_state_publisher/im_joint_state_publisher.h>
#include <std_msgs/String.h>
#include <ros/console.h>


int main(int argc,char** argv)
{
	if (argc!=2) {
		std::cerr << "Usage: " << argv[0] << " <urdf_file>" << std::endl;
		exit(0);
	}

	ros::init(argc,argv,"im_joint_state_publisher_test");
	ros::NodeHandle node;

	// Set the root ROS logger to output all statements
	//log4cxx::LoggerPtr my_logger = log4cxx::Logger::getLogger(ROSCONSOLE_DEFAULT_NAME);
    //my_logger->setLevel(ros::console::g_level_lookup[ros::console::levels::Debug]);

    im_joint_state_publisher::ImJointStatePublisher publisher;
	publisher.loadNewRobot(argv[1]);

	ros::spin();

	return 0;
}
